version: 66.07
glider: 150
mission: 7
dive: 4
start: 8 5 110 19 27 30
data:
$ID,150
$MISSION,7
$DIVE,4
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0292
$MASS,52177
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,33
$TGT_DEFAULT_LON,33
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-30216.744
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,459
$PITCH_MAX,3719
$C_PITCH,2982
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,20
$C_ROLL_DIVE,2097
$C_ROLL_CLIMB,2097
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3960
$C_VBD,3326
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-6.721117
$PRESSURE_SLOPE,0.000116226
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043690177
$SEABIRD_T_H,0.0006364733
$SEABIRD_T_I,2.5457093e-05
$SEABIRD_T_J,2.7894353e-06
$SEABIRD_C_G,-10.003726
$SEABIRD_C_H,1.1309421
$SEABIRD_C_I,-0.0014659085
$SEABIRD_C_J,0.00020345701
$GPS1,050810,192213,4742.790,-12225.341,7,1.0,7,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-72.2
$GPS2,050810,192607,4742.786,-12225.342,9,1.2,14,18.2
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.090,0.243
$KALMAN_X,-299.8,-178.6,-139.5,282.5,-136.2
$KALMAN_Y,-686.0,-351.7,-274.9,800.3,-312.4
$MHEAD_RNG_PITCHd_Wd,2.1,1389,-17.5,-10.000
$D_GRID,189
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.27,-145.7,0.0,0.0,0,67,0.00,0.00,-48.58,0.000,2,0.000,0.000,455,2098,3489,0,0,0,0,0,0
$GC,71,-1.27,-145.7,3.2,-6.7,7,103,11.90,1.25,-9.70,0.000,4,0.160,0.078,2698,1377,3922,0,0,0,0,0,0
$GC,342,-1.27,-145.7,44.6,-14.8,56,350,0.00,1.20,0.00,0.000,6,0.000,0.044,2698,2099,3923,0,0,0,0,0,0
$GC,417,-1.27,-145.7,54.9,-14.3,69,424,0.00,1.20,0.00,0.000,4,0.000,0.059,2698,1390,3923,0,0,0,0,0,0
$GC,634,-1.27,-145.7,83.5,-14.0,107,641,0.00,1.17,0.00,0.000,6,0.000,0.045,2698,2093,3922,0,0,0,0,0,0
$GC,774,-1.27,-145.7,102.5,-14.0,132,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2094,3923,0,0,0,0,0,0
$GC,916,-1.27,-145.7,121.9,-12.3,157,922,0.00,1.20,0.00,0.000,4,0.000,0.079,2698,2789,3923,0,0,0,0,0,0
$GC,986,-1.27,-145.7,129.7,-11.7,169,993,0.00,1.17,0.00,0.000,6,0.000,0.060,2698,2095,3923,0,0,0,0,0,0
$GC,1130,-1.27,-145.7,146.3,-11.3,194,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2094,3922,0,0,0,0,0,0
$STATE,1160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1160,begin apogee
$GC,1166,-0.31,0.0,150.3,12.5,199,1290,0.93,0.00,114.65,0.659,6,0.095,0.000,2906,2094,3325,0,0,0,0,0,0
$STATE,1290,end apogee,CONTROL_FINISHED_OK
$STATE,1290,begin climb
$GC,1293,1.27,145.7,154.9,0.0,218,1420,1.50,1.27,116.45,0.639,4,0.062,0.070,3257,1388,2730,0,0,0,0,0,0
$GC,1556,1.35,210.3,138.2,7.0,261,1615,0.00,1.20,52.92,0.620,6,0.000,0.049,3257,2089,2468,0,0,0,0,0,0
$GC,1749,1.35,210.3,119.9,10.2,294,1756,0.00,1.20,0.00,0.000,4,0.000,0.059,3257,1398,2464,0,0,0,0,0,0
$GC,1793,1.35,210.3,115.3,11.8,301,1800,0.00,1.20,0.00,0.000,6,0.000,0.050,3257,2102,2463,0,0,0,0,0,0
$GC,1936,1.35,210.3,100.7,11.9,326,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,2102,2463,0,0,0,0,0,0
$GC,2078,1.35,210.3,85.7,11.1,351,2085,0.00,1.23,0.00,0.000,4,0.000,0.061,3257,1391,2462,0,0,0,0,0,0
$GC,2162,1.35,210.3,76.1,11.7,366,2169,0.00,1.20,0.00,0.000,6,0.000,0.058,3257,2098,2462,0,0,0,0,0,0
$GC,2306,1.36,218.4,61.3,9.6,391,2321,0.10,1.20,7.40,0.529,4,0.083,0.055,3297,1385,2435,0,0,0,0,0,0
$GC,2382,1.36,218.4,53.0,10.8,404,2390,0.00,1.20,0.00,0.000,6,0.000,0.047,3298,2095,2435,0,0,0,0,0,0
$GC,2523,1.36,218.4,38.3,10.8,429,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,2095,2434,0,0,0,0,0,0
$GC,2596,1.36,218.4,30.4,10.3,442,2605,0.00,1.20,0.00,0.000,4,0.000,0.060,3297,2795,2434,0,0,0,0,0,0
$GC,2631,1.37,222.4,27.2,9.8,447,2640,0.00,1.20,4.97,0.461,6,0.000,0.061,3297,2095,2419,0,0,0,0,0,0
$GC,2706,1.37,222.4,18.9,11.1,460,2714,0.00,1.20,0.00,0.000,4,0.000,0.059,3298,1393,2418,0,0,0,0,0,0
$GC,2761,1.37,222.4,12.0,13.0,469,2769,0.00,1.20,0.00,0.000,6,0.000,0.054,3297,2103,2418,0,0,0,0,0,0
$GC,2835,1.39,240.9,3.3,9.1,482,2844,0.00,0.00,6.82,0.076,2,0.000,0.000,3297,2104,2404,0,0,0,0,0,0
$STATE,2845,end climb,SURFACE_DEPTH_REACHED
$STATE,2845,begin surface coast
$FINISH,0.0,1.001939
$STATE,2877,end surface coast,CONTROL_FINISHED_OK
$STATE,2877,begin surface
$SM_CCo,2897,24.52,0.384,1,0,2306,250.21
$SM_GC,1.54,0.00,0.00,24.52,0.000,0.000,0.384,456,2105,2306,-11.62,0.23,250.21
$IRIDIUM_FIX,4726.11,-12225.08,290112,131330
$TT8_MAMPS,0.026964
$HUMID,1078692248
$INTERNAL_PRESSURE,9.34921
$TCM_TEMP,16.80
$XPDR_PINGS,13
$24V_AH,23.5,0.420
$10V_AH,10.6,1.003
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.125,21.700,303.225,24.525,0.000,0.000,0.000,0.000,4.250,0.000,16.505,1064.905,292.028,365.518,1086.474,222.761,32.333,853.003,0.000,1190.278,0.000,7.189,0.000
$DEVICE_MAMPS,159.885,78.795,659.430,384.030,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.751,252.858,802.578,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323736
$DATA_FILE_SIZE,26841,489
$CAP_FILE_SIZE,72884,0
$CFSIZE,260165632,170528768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050810,201728,4742.829,-12225.370,11,99.0,30,18.2